IDG-A32X/Systems/fbw-pitch.xml

<?xml version="1.0"?>

<!--
##############################################
# Copyright (c) Joshua Davidson (it0uchpods) #
##############################################
-->

<!-- Airbus A3XX FBW System -->
<!-- Joshua Davidson (it0uchpods) -->

<PropertyList>

 <!-- =============================================================== -->
 <!-- Vertical                                                        -->
 <!-- =============================================================== -->

	<filter>
		<name>IT-CONTROLLER: LOAD FACTOR CMD</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<expression>
				<sum>
					<table>
						<property>/controls/flight/elevator-input</property> 
						<entry><ind> 1</ind><dep>-0.5</dep></entry>
						<entry><ind> 0</ind><dep> 1.0</dep></entry>
						<entry><ind>-1</ind><dep> 2.5</dep></entry>
					</table>
				</sum>
			</expression>
		</input>
		<output>/it-fbw/g-target</output>
		<min>
			<condition>
				<not-equals>
					<property>/controls/flight/flap-pos</property>
					<value>0</value>
				</not-equals>
			</condition>
			<value>0.0</value>
		</min>
		<min>-1.0</min>
		<max>
			<condition>
				<not-equals>
					<property>/controls/flight/flap-pos</property>
					<value>0</value>
				</not-equals>
			</condition>
			<value>2.0</value>
		</max>
		<max>2.5</max>
	</filter>
	
	<filter>
		<name>IT-CONTROLLER: COMPUTED G</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<expression>
				<sum>
					<property>/accelerations/pilot-gdamped</property>
					<div>
						<value>1</value>
						<cos>
							<deg2rad>
								<product>
									<property>/orientation/roll-deg</property>
									<value>0.965</value>
								</product>
							</deg2rad>
						</cos>
					</div>
					<value>-1</value>
				</sum>
			</expression>
		</input>
		<output>/it-fbw/g-computed</output>
	</filter>
	
	<filter>
		<name>IT-CONTROLLER: G ERROR</name>
		<type>gain</type>
		<gain>-1.0</gain>
		<input>
			<expression>
				<dif>
					<property>/it-fbw/g-target</property>
					<property>/it-fbw/g-computed</property>
				</dif>
			</expression>
		</input>
		<output>/it-fbw/g-error</output>
	</filter>
	
	<pi-simple-controller>
		<name>IT-CONTROLLER: G ELEVATOR</name>
		<debug>false</debug>
		<enable>
			<condition>
				<and>
					<equals>
						<property>/gear/gear[1]/wow</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/gear/gear[2]/wow</property>
						<value>0</value>
					</equals>
					<or>
						<equals>
							<property>/it-fbw/law</property>
							<value>0</value>
						</equals>
						<equals>
							<property>/it-fbw/law</property>
							<value>1</value>
						</equals>
					</or>
				</and>
			</condition>
		</enable>
		<input>
			<property>/it-fbw/g-error</property>
		</input>
		<reference>
			<value>0</value>
		</reference>
		<output>
			<property>/it-fbw/g-elevator</property>
		</output>
		<config>
			<Kp>-1.5</Kp>
			<Ki>-1.5</Ki>
			<min>
				<condition>
					<less-than>
						<property>/controls/flight/elevator-input</property>
						<value>0</value>
					</less-than>
				</condition>
				<property>/controls/flight/elevator-input</property>
			</min>
			<min>0.0</min>
			<max>
				<condition>
					<greater-than>
						<property>/controls/flight/elevator-input</property>
						<value>0</value>
					</greater-than>
				</condition>
				<property>/controls/flight/elevator-input</property>
			</max>
			<max>0.0</max>
		</config>
	</pi-simple-controller>
 
	<filter>
	   <name>IT-CONTROLLER: PITCH RATE CMD</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<condition>
				<and>
					<equals>
						<property>/it-fbw/law</property>
						<value>0</value>
					</equals>
					<not-equals>
						<property>/it-fbw/protections/overspeed</property>
						<value>1</value>
					</not-equals>
				</and>
			</condition>
			<expression>
				<sum>
					<table>
						<property>/it-fbw/g-elevator</property> 
						<entry><ind> 1</ind><dep>-5.0</dep></entry>
						<entry><ind> 0</ind><dep> 0.0</dep></entry>
						<entry><ind>-1</ind><dep> 5.0</dep></entry>
					</table>
					<product>
						<table>
							<property>/orientation/pitch-deg</property>
							<entry><ind>-15.00000</ind><dep>1</dep></entry>
							<entry><ind>-14.99999</ind><dep>0</dep></entry>
						</table>
						<table>
							<property>/it-fbw/g-elevator</property> 
							<entry><ind>1</ind><dep>5.0</dep></entry>
							<entry><ind>0</ind><dep>0.0</dep></entry>
						</table>
					</product>
					<product>
						<table>
							<property>/orientation/pitch-deg</property>
							<entry><ind>29.99999</ind><dep>0</dep></entry>
							<entry><ind>30.00000</ind><dep>1</dep></entry>
						</table>
						<table>
							<property>/it-fbw/g-elevator</property> 
							<entry><ind> 0</ind><dep> 0.0</dep></entry>
							<entry><ind>-1</ind><dep>-5.0</dep></entry>
						</table>
					</product>
					<table>
						<property>/orientation/pitch-deg</property>
						<entry><ind>-18</ind><dep> 5</dep></entry>
						<entry><ind>-15</ind><dep> 0</dep></entry>
						<entry><ind> 30</ind><dep> 0</dep></entry>
						<entry><ind> 33</ind><dep>-5</dep></entry>
					</table>
				</sum>
			</expression>
		</input>
		<input>
			<condition>
				<and>
					<not-equals>
						<property>/it-fbw/law</property>
						<value>0</value>
					</not-equals>
					<not-equals>
						<property>/it-fbw/protections/overspeed</property>
						<value>1</value>
					</not-equals>
				</and>
			</condition>
			<expression>
				<sum>
					<table>
						<property>/it-fbw/g-elevator</property> 
						<entry><ind> 1</ind><dep>-5.0</dep></entry>
						<entry><ind> 0</ind><dep> 0.0</dep></entry>
						<entry><ind>-1</ind><dep> 5.0</dep></entry>
					</table>
				</sum>
			</expression>
		</input>
		<input>
			<condition>
				<and>
					<equals>
						<property>/it-fbw/law</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/it-fbw/protections/overspeed</property>
						<value>1</value>
					</equals>
				</and>
			</condition>
			<expression>
				<sum>
					<table>
						<property>/it-fbw/g-elevator</property> 
						<entry><ind> 0.0</ind><dep> 1.5</dep></entry>
						<entry><ind>-1.0</ind><dep> 5.0</dep></entry>
					</table>
					<product>
						<table>
							<property>/orientation/pitch-deg</property>
							<entry><ind>29.99999</ind><dep>0</dep></entry>
							<entry><ind>30.00000</ind><dep>1</dep></entry>
						</table>
						<table>
							<property>/it-fbw/g-elevator</property> 
							<entry><ind> 0</ind><dep>-1.5</dep></entry>
							<entry><ind>-1</ind><dep>-5.0</dep></entry>
						</table>
					</product>
					<table>
						<property>/orientation/pitch-deg</property>
						<entry><ind> 30</ind><dep> 0</dep></entry>
						<entry><ind> 33</ind><dep>-5</dep></entry>
					</table>
				</sum>
			</expression>
		</input>
		<input>
			<condition>
				<and>
					<not-equals>
						<property>/it-fbw/law</property>
						<value>0</value>
					</not-equals>
					<equals>
						<property>/it-fbw/protections/overspeed</property>
						<value>1</value>
					</equals>
				</and>
			</condition>
			<expression>
				<sum>
					<table>
						<property>/it-fbw/g-elevator</property>
						<entry><ind> 1.0</ind><dep>-3.5</dep></entry>
						<entry><ind> 0.0</ind><dep> 1.5</dep></entry>
						<entry><ind>-1.0</ind><dep> 5.0</dep></entry>
					</table>
					<product>
						<table>
							<property>/orientation/pitch-deg</property>
							<entry><ind>-15.00000</ind><dep>1</dep></entry>
							<entry><ind>-14.99999</ind><dep>0</dep></entry>
						</table>
						<table>
							<property>/it-fbw/g-elevator</property> 
							<entry><ind>1</ind><dep> 3.5</dep></entry>
							<entry><ind>0</ind><dep>-1.5</dep></entry>
						</table>
					</product>
					<product>
						<table>
							<property>/orientation/pitch-deg</property>
							<entry><ind>29.99999</ind><dep>0</dep></entry>
							<entry><ind>30.00000</ind><dep>1</dep></entry>
						</table>
						<table>
							<property>/it-fbw/g-elevator</property> 
							<entry><ind> 0</ind><dep>-1.5</dep></entry>
							<entry><ind>-1</ind><dep>-5.0</dep></entry>
						</table>
					</product>
					<table>
						<property>/orientation/pitch-deg</property>
						<entry><ind>-18</ind><dep> 5</dep></entry>
						<entry><ind>-15</ind><dep> 0</dep></entry>
						<entry><ind> 30</ind><dep> 0</dep></entry>
						<entry><ind> 33</ind><dep>-5</dep></entry>
					</table>
				</sum>
			</expression>
		</input>
		<output>/it-fbw/pitch-rate</output>
	</filter>
	
	<filter>
		<name>IT-CONTROLLER: PITCH KP (P Gain)</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<expression>
				<table>
					<property>/velocities/mach</property>
					<entry><ind>0.2</ind><dep>-0.31</dep></entry>
					<entry><ind>0.9</ind><dep>-0.15</dep></entry>
				</table>
			</expression>
		</input>
		<output>/it-fbw/pitch-kp</output>
	</filter>
	
	<filter>
		<name>IT-CONTROLLER: PITCH TI (I Time)</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<expression>
				<table>
					<property>/velocities/mach</property>
					<entry><ind>0.2</ind><dep>0.75</dep></entry>
					<entry><ind>0.9</ind><dep>0.55</dep></entry>
				</table>
			</expression>
		</input>
		<output>/it-fbw/pitch-ti</output>
	</filter>
	
	<pid-controller>
		<name>IT-CONTROLLER: PITCH</name>
		<debug>false</debug>
		<enable>
			<condition>
				<and>
					<equals>
						<property>/gear/gear[1]/wow</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/gear/gear[2]/wow</property>
						<value>0</value>
					</equals>
					<or>
						<equals>
							<property>/it-fbw/law</property>
							<value>0</value>
						</equals>
						<equals>
							<property>/it-fbw/law</property>
							<value>1</value>
						</equals>
					</or>
				</and>
			</condition>
		</enable>
		<input>
			<property>/orientation/pitch-rate-degps</property>
		</input>
		<reference>
			<property>/it-fbw/pitch-rate</property>
		</reference>
		<output>
			<property>/controls/flight/elevator-fbw-pid</property>
		</output>
		<config>
			<Kp>
				<property>/it-fbw/pitch-kp</property>
			</Kp>
			<beta>1</beta>
			<alpha>0.1</alpha>
			<gamma>0</gamma>
			<Ti>
				<property>/it-fbw/pitch-ti</property>
			</Ti>
			<Td>0.005</Td>
			<u_min>-1</u_min>
			<u_max>1</u_max>
		</config>
	</pid-controller>
	
	<filter>
		<name>IT-CONTROLLER: ELEVATOR INVERT</name>
		<type>gain</type>
		<gain>1.0</gain>
		<input>
			<condition>
				<and>
					<less-than-equals>
						<property>/orientation/roll-deg</property>
						<value>90</value>
					</less-than-equals>
					<greater-than-equals>
						<property>/orientation/roll-deg</property>
						<value>-90</value>
					</greater-than-equals>
				</and>
			</condition>
			<property>/controls/flight/elevator-fbw-pid</property>
		</input>
		<input>
			<property>/controls/flight/elevator-fbw-pid</property>
			<scale>-1.0</scale>
		</input>
		<output>/controls/flight/elevator-fbw-cmd</output>
	</filter>
	
	<filter>
		<name>IT-CONTROLLER: PITCH OPTION</name>
		<debug>false</debug>
		<type>gain</type>
		<gain>1.0</gain>
		<feedback-if-disabled>true</feedback-if-disabled>
		<initialize-to>output</initialize-to>
		<input>
			<condition>
				<and>
					<equals>
						<property>/gear/gear[1]/wow</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/gear/gear[2]/wow</property>
						<value>0</value>
					</equals>
					<or>
						<equals>
							<property>/it-fbw/law</property>
							<value>0</value>
						</equals>
						<equals>
							<property>/it-fbw/law</property>
							<value>1</value>
						</equals>
					</or>
				</and>
			</condition>
			<property>/controls/flight/elevator-fbw-cmd</property>
		</input>
		<input>
			<condition>
				<and>
					<equals>
						<property>/it-autoflight/output/ap1</property>
						<value>0</value>
					</equals>
					<equals>
						<property>/it-autoflight/output/ap2</property>
						<value>0</value>
					</equals>
					<or>
						<equals>
							<property>/gear/gear[1]/wow</property>
							<value>1</value>
						</equals>
						<equals>
							<property>/gear/gear[2]/wow</property>
							<value>1</value>
						</equals>
						<equals>
							<property>/it-fbw/law</property>
							<value>2</value>
						</equals>
					</or>
				</and>
			</condition>
			<property>/controls/flight/elevator-input-fast</property>
		</input>
		<input>
			<condition>
				<and>
					<or>
						<equals>
							<property>/it-autoflight/output/ap1</property>
							<value>1</value>
						</equals>
						<equals>
							<property>/it-autoflight/output/ap2</property>
							<value>1</value>
						</equals>
					</or>
					<or>
						<equals>
							<property>/gear/gear[1]/wow</property>
							<value>1</value>
						</equals>
						<equals>
							<property>/gear/gear[2]/wow</property>
							<value>1</value>
						</equals>
					</or>
				</and>
			</condition>
			<value>0.1</value>
		</input>
		<input>
			<condition>
				<equals>
					<property>/it-fbw/law</property>
					<value>3</value>
				</equals>
			</condition>
			<value>0</value>
		</input>
		<output>/controls/flight/elevator-fbw</output>
	</filter>
	
	<filter>
		<name>IT-CONTROLLER: PITCH TRIM</name>
		<debug>false</debug>
		<initialize-to>output</initialize-to>
		<type>noise-spike</type>
		<enable>
			<condition>
				<and>
					<or>
						<equals>
							<property>/it-fbw/law</property>
							<value>0</value>
						</equals>
						<equals>
							<property>/it-fbw/law</property>
							<value>1</value>
						</equals>
					</or>
					<or>
						<and>
							<greater-than-equals>
								<property>/position/gear-agl-ft</property>
								<value>100</value>
							</greater-than-equals>
							<or>
								<equals>
									<property>/it-autoflight/output/ap1</property>
									<value>1</value>
								</equals>
								<equals>
									<property>/it-autoflight/output/ap2</property>
									<value>1</value>
								</equals>
							</or>
						</and>
						<and>
							<greater-than-equals>
								<property>/position/gear-agl-ft</property>
								<value>50</value>
							</greater-than-equals>
							<equals>
								<property>/it-autoflight/output/ap1</property>
								<value>0</value>
							</equals>
							<equals>
								<property>/it-autoflight/output/ap2</property>
								<value>0</value>
							</equals>
						</and>
					</or>
					<less-than>
						<property>/orientation/roll-deg</property>
						<value>40</value>
					</less-than>
					<greater-than>
						<property>/orientation/roll-deg</property>
						<value>-40</value>
					</greater-than>
					<or>
						<greater-than>
							<property>/controls/flight/elevator-fbw</property>
							<value>0.01</value>
						</greater-than>
						<less-than>
							<property>/controls/flight/elevator-fbw</property>
							<value>-0.01</value>
						</less-than>
					</or>
					<less-than>
						<property>/fdm/jsbsim/forces/load-factor</property>
						<value>-0.5</value>
					</less-than>
					<not-equals>
						<property>/it-fbw/protections/overspeed</property>
						<value>1</value>
					</not-equals>
				</and>
			</condition>
		</enable>
		<input>
			<condition>
				<greater-than>
					<property>/controls/flight/elevator-fbw</property>
					<value>0.01</value>
				</greater-than>
			</condition>
			<value>1</value>
		</input>
		<input>
			<condition>
				<less-than>
					<property>/controls/flight/elevator-fbw</property>
					<value>-0.01</value>
				</less-than>
			</condition>
			<value>-1</value>
		</input>
		<output>/controls/flight/elevator-trim</output>
		<min>-1.0</min>
		<max>0.32</max>
		<max-rate-of-change>0.01</max-rate-of-change>
	</filter>

</PropertyList>